diff --git a/Documentation/shortcuts.md b/Documentation/shortcuts.md
index 3d604031..b6e9bdcf 100644
--- a/Documentation/shortcuts.md
+++ b/Documentation/shortcuts.md
@@ -40,4 +40,8 @@ These shortcuts only apply to the currently selected volume. See [](./user-inter
 | `Ctrl + Z` | Undo - back to previous keyframe |
 | `Ctrl + Y` | Redo - forward to next keyframe |
 | `Delete` | Delete the current keyframe |
-| `Ctrl + L` | Smooth tangents between keyframes |
\ No newline at end of file
+| `Ctrl + L` | Smooth tangents between keyframes |
+| `Left` | Select previous DOF. |
+| `Right` | Select next DOF. |
+| `Up` | Increment selected DOF. |
+| `Down` | Decrement selected DOF. |
diff --git a/autoscoper/src/ui/AdvancedOptionsDialog.cpp b/autoscoper/src/ui/AdvancedOptionsDialog.cpp
index ce1bd009..de5b9905 100644
--- a/autoscoper/src/ui/AdvancedOptionsDialog.cpp
+++ b/autoscoper/src/ui/AdvancedOptionsDialog.cpp
@@ -149,6 +149,12 @@ void AdvancedOptionsDialog::on_radioButton_AnotherMethod_clicked(bool checked)
   // mainwindow->getTracker()->trial()->guess = 1;
 }
 
+void AdvancedOptionsDialog::on_stepSizeSpinBox_valueChanged(double d)
+{
+  AutoscoperMainWindow* mainwindow = dynamic_cast<AutoscoperMainWindow*>(parent());
+  mainwindow->updateStepSize(d);
+}
+
 void AdvancedOptionsDialog::setDefPaths(QString root_path,
                                         QString filter_folder,
                                         QString filter_name,
diff --git a/autoscoper/src/ui/AdvancedOptionsDialog.h b/autoscoper/src/ui/AdvancedOptionsDialog.h
index aaa94971..bfe50a6f 100644
--- a/autoscoper/src/ui/AdvancedOptionsDialog.h
+++ b/autoscoper/src/ui/AdvancedOptionsDialog.h
@@ -77,6 +77,7 @@ public slots:
   void on_pushButton_Delete_clicked(bool checked);
   void on_radioButton_MovingAverage_clicked(bool checked);
   void on_radioButton_AnotherMethod_clicked(bool checked);
+  void on_stepSizeSpinBox_valueChanged(double d);
 
   void setDefPaths(QString root_path,
                    QString filter_folder,
diff --git a/autoscoper/src/ui/AutoscoperMainWindow.cpp b/autoscoper/src/ui/AutoscoperMainWindow.cpp
index 36ea6fb3..6b73450d 100644
--- a/autoscoper/src/ui/AutoscoperMainWindow.cpp
+++ b/autoscoper/src/ui/AutoscoperMainWindow.cpp
@@ -833,6 +833,10 @@ void AutoscoperMainWindow::loadFilterSettings(int camera, QString filename)
 
 std::vector<double> AutoscoperMainWindow::getPose(unsigned int volume, unsigned int frame)
 {
+  if (frame == -1) {
+    frame = tracker->trial()->frame;
+  }
+
   std::vector<double> pose(6, 0);
   pose[0] = (*tracker->trial()->getXCurve(volume))(frame);
   pose[1] = (*tracker->trial()->getYCurve(volume))(frame);
@@ -846,10 +850,16 @@ std::vector<double> AutoscoperMainWindow::getPose(unsigned int volume, unsigned
 
 void AutoscoperMainWindow::setPose(std::vector<double> pose, unsigned int volume, unsigned int frame)
 {
+  if (frame == -1) {
+    frame = tracker->trial()->frame;
+  }
+
   tracker->trial()->getXCurve(volume)->insert(frame, pose[0]);
   tracker->trial()->getYCurve(volume)->insert(frame, pose[1]);
   tracker->trial()->getZCurve(volume)->insert(frame, pose[2]);
   tracker->trial()->getQuatCurve(volume)->insert(frame, Quatf(pose[3], pose[4], pose[5]));
+  frame_changed();
+  redrawGL();
 }
 
 void AutoscoperMainWindow::setBackground(double threshold)
@@ -2399,6 +2409,44 @@ void AutoscoperMainWindow::key_minus_pressed()
   redrawGL();
 }
 
+void AutoscoperMainWindow::key_left_pressed()
+{
+  // Move to the prev DOF
+  int updatedDOF = this->timeline_widget->getCurrentDOF();
+  updatedDOF--;
+  if (updatedDOF < 0) {
+    updatedDOF = TimelineDockWidget::NUMBER_OF_DEGREES_OF_FREEDOM - 1;
+  }
+  this->timeline_widget->setCurrentDOF(updatedDOF);
+}
+
+void AutoscoperMainWindow::key_right_pressed()
+{
+  // Move to the next DOF
+  int updatedDOF = timeline_widget->getCurrentDOF();
+  updatedDOF++;
+  if (updatedDOF >= TimelineDockWidget::NUMBER_OF_DEGREES_OF_FREEDOM) {
+    updatedDOF = 0;
+  }
+  timeline_widget->setCurrentDOF(updatedDOF);
+}
+
+void AutoscoperMainWindow::key_up_pressed()
+{
+  std::vector<double> curPose = getPose(-1, -1);
+  int currentDOF = this->timeline_widget->getCurrentDOF();
+  curPose[currentDOF] = curPose[currentDOF] + stepVal;
+  setPose(curPose, -1, -1);
+}
+
+void AutoscoperMainWindow::key_down_pressed()
+{
+  std::vector<double> curPose = getPose(-1, -1);
+  int currentDOF = this->timeline_widget->getCurrentDOF();
+  curPose[currentDOF] = curPose[currentDOF] - stepVal;
+  setPose(curPose, -1, -1);
+}
+
 // Shortcuts
 void AutoscoperMainWindow::setupShortcuts()
 {
@@ -2423,6 +2471,15 @@ void AutoscoperMainWindow::setupShortcuts()
   // - - Decrease pivot size
   new QShortcut(QKeySequence(Qt::Key_Minus), this, SLOT(key_minus_pressed()));
 
+  // Left Arrow Key - Previous DOF
+  new QShortcut(QKeySequence(Qt::Key_Left), this, SLOT(key_left_pressed()));
+  // Right Arrow Key - Next DOF
+  new QShortcut(QKeySequence(Qt::Key_Right), this, SLOT(key_right_pressed()));
+  // Up Arrow Key - Increment DOF
+  new QShortcut(QKeySequence(Qt::Key_Up), this, SLOT(key_up_pressed()));
+  // Down Arrow Key - Decrement DOF
+  new QShortcut(QKeySequence(Qt::Key_Down), this, SLOT(key_down_pressed()));
+
   // CTRL+C - Copy keyframe
   ui->actionCopy->setShortcut(QKeySequence(Qt::CTRL + Qt::Key_C));
   // CTRL+V - Paste keyframe
diff --git a/autoscoper/src/ui/AutoscoperMainWindow.h b/autoscoper/src/ui/AutoscoperMainWindow.h
index 42e2e15e..368ff105 100644
--- a/autoscoper/src/ui/AutoscoperMainWindow.h
+++ b/autoscoper/src/ui/AutoscoperMainWindow.h
@@ -161,6 +161,8 @@ class AutoscoperMainWindow : public QMainWindow
   // Backup Save
   void backup_tracking(bool backup_on);
 
+  void updateStepSize(double d) { stepVal = d; }
+
 private:
   Ui::AutoscoperMainWindow* ui;
   FilterDockWidget* filters_widget;
@@ -220,6 +222,9 @@ class AutoscoperMainWindow : public QMainWindow
   std::vector<unsigned int> textures;
   void reset_graph();
 
+  // Arrow key stepping
+  double stepVal = 1.0;
+
   /// \brief Log tracking parameter to file
   ///
   /// The file is created based on the following pattern:
@@ -325,6 +330,11 @@ public slots:
   void key_plus_pressed();
   void key_equal_pressed();
   void key_minus_pressed();
+
+  void key_left_pressed();
+  void key_right_pressed();
+  void key_up_pressed();
+  void key_down_pressed();
 };
 
 #endif // UAUTOSCOPERMAINWINDOW_H
diff --git a/autoscoper/src/ui/TimelineDockWidget.cpp b/autoscoper/src/ui/TimelineDockWidget.cpp
index ce78b363..1cac2271 100644
--- a/autoscoper/src/ui/TimelineDockWidget.cpp
+++ b/autoscoper/src/ui/TimelineDockWidget.cpp
@@ -47,6 +47,7 @@
 #include "ui/TimelineDockWidget.h"
 #include "ui/AutoscoperMainWindow.h"
 
+#include "TimelineDockWidget.h"
 #include "Tracker.hpp"
 
 #include <QOpenGLContext>
@@ -292,6 +293,61 @@ void TimelineDockWidget::on_spinBox_LastFrame_valueChanged(int d)
   }
 }
 
+void TimelineDockWidget::setCurrentDOF(int dof)
+{
+  if (dof < 0) {
+    dof = 0;
+  }
+  if (dof >= NUMBER_OF_DEGREES_OF_FREEDOM) {
+    dof = NUMBER_OF_DEGREES_OF_FREEDOM - 1;
+  }
+  if (dof == this->currentDOF) {
+    return;
+  }
+  this->updateBolding(this->currentDOF, false);
+  this->updateBolding(dof, true);
+  this->currentDOF = dof;
+}
+
+void TimelineDockWidget::updateBolding(int dof, bool state)
+{
+  QFont font;
+  switch (dof) {
+    case 0:
+      font = dock->checkBox_X->font();
+      font.setBold(state);
+      dock->checkBox_X->setFont(font);
+      break;
+    case 1:
+      font = dock->checkBox_Y->font();
+      font.setBold(state);
+      dock->checkBox_Y->setFont(font);
+      break;
+    case 2:
+      font = dock->checkBox_Z->font();
+      font.setBold(state);
+      dock->checkBox_Z->setFont(font);
+      break;
+    case 3:
+      font = dock->checkBox_Yaw->font();
+      font.setBold(state);
+      dock->checkBox_Yaw->setFont(font);
+      break;
+    case 4:
+      font = dock->checkBox_Pitch->font();
+      font.setBold(state);
+      dock->checkBox_Pitch->setFont(font);
+      break;
+    case 5:
+      font = dock->checkBox_Roll->font();
+      font.setBold(state);
+      dock->checkBox_Roll->setFont(font);
+      break;
+    default:
+      break;
+  }
+}
+
 void TimelineDockWidget::getValues(double* xyzypr)
 {
   xyzypr[0] = dock->doubleSpinBox_X->value();
@@ -442,4 +498,4 @@ void TimelineDockWidget::update_graph_min_max(int frame)
     position_graph->min_value -= 1.0;
     position_graph->max_value += 1.0;
   }
-}
\ No newline at end of file
+}
diff --git a/autoscoper/src/ui/TimelineDockWidget.h b/autoscoper/src/ui/TimelineDockWidget.h
index 2eeb35e6..ae97255a 100644
--- a/autoscoper/src/ui/TimelineDockWidget.h
+++ b/autoscoper/src/ui/TimelineDockWidget.h
@@ -43,6 +43,8 @@
 #define TIMELINEDOCKWIDGET_H
 
 #include <QDockWidget>
+
+#include "AutoscoperMainWindow.h"
 #include "KeyCurve.hpp"
 
 struct GraphData
@@ -100,6 +102,12 @@ class TimelineDockWidget : public QDockWidget
 
   std::vector<std::pair<IKeyCurve*, IKeyCurve::iterator>>* getCopiedNodes() { return &copied_nodes; }
 
+  // DOF stepping and selection
+  void setCurrentDOF(int dof);
+  int getCurrentDOF() { return this->currentDOF; }
+
+  static const int NUMBER_OF_DEGREES_OF_FREEDOM = 6;
+
   void getValues(double* xyzypr);
   void setValues(double* xyzypr);
   void setValuesEnabled(bool enabled);
@@ -125,6 +133,10 @@ class TimelineDockWidget : public QDockWidget
   int play_tag;
   QTimer* play_timer;
 
+  // DOF stepping and selection
+  int currentDOF = 0;
+  void updateBolding(int dof, bool state);
+
 protected:
 public slots:
   void play_update();
diff --git a/autoscoper/src/ui/ui-files/AdvancedOptionsDialog.ui b/autoscoper/src/ui/ui-files/AdvancedOptionsDialog.ui
index 50391652..7aa04127 100644
--- a/autoscoper/src/ui/ui-files/AdvancedOptionsDialog.ui
+++ b/autoscoper/src/ui/ui-files/AdvancedOptionsDialog.ui
@@ -7,8 +7,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>477</width>
-    <height>470</height>
+    <width>468</width>
+    <height>568</height>
    </rect>
   </property>
   <property name="minimumSize">
@@ -41,7 +41,106 @@
      <property name="verticalSpacing">
       <number>15</number>
      </property>
-     <item row="5" column="0" colspan="2">
+     <item row="1" column="0" colspan="2">
+      <widget class="QGroupBox" name="groupBox">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>80</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">QGroupBox {
+    border: 1px solid gray;
+    border-radius: 9px;
+    margin-top: 0.5em;
+}
+
+QGroupBox::title {
+    subcontrol-origin: margin;
+    left: 10px;
+    padding: 0 3px 0 3px;
+}</string>
+       </property>
+       <property name="title">
+        <string>Range</string>
+       </property>
+       <property name="flat">
+        <bool>false</bool>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_5">
+        <item row="0" column="0">
+         <layout class="QGridLayout" name="gridLayout_4">
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>End Frame</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Start Frame</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="4">
+           <widget class="Line" name="line_2">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QSpinBox" name="spinBox_FrameEnd_adv">
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QSpinBox" name="spinBox_FrameStart_adv">
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="5">
+           <widget class="QLabel" name="label_12">
+            <property name="font">
+             <font>
+              <weight>75</weight>
+              <italic>false</italic>
+              <bold>true</bold>
+              <underline>false</underline>
+              <strikeout>false</strikeout>
+             </font>
+            </property>
+            <property name="text">
+             <string>Skip Frame</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="6">
+           <widget class="QSpinBox" name="spinBox_FrameSkip_adv">
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="6" column="0" colspan="2">
       <widget class="QGroupBox" name="groupBox_DefaultPaths">
        <property name="minimumSize">
         <size>
@@ -291,105 +390,6 @@ QGroupBox::title {
        </layout>
       </widget>
      </item>
-     <item row="1" column="0" colspan="2">
-      <widget class="QGroupBox" name="groupBox">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>80</height>
-        </size>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">QGroupBox {
-    border: 1px solid gray;
-    border-radius: 9px;
-    margin-top: 0.5em;
-}
-
-QGroupBox::title {
-    subcontrol-origin: margin;
-    left: 10px;
-    padding: 0 3px 0 3px;
-}</string>
-       </property>
-       <property name="title">
-        <string>Range</string>
-       </property>
-       <property name="flat">
-        <bool>false</bool>
-       </property>
-       <property name="checkable">
-        <bool>false</bool>
-       </property>
-       <layout class="QGridLayout" name="gridLayout_5">
-        <item row="0" column="0">
-         <layout class="QGridLayout" name="gridLayout_4">
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>End Frame</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label">
-            <property name="text">
-             <string>Start Frame</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="4">
-           <widget class="Line" name="line_2">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="3">
-           <widget class="QSpinBox" name="spinBox_FrameEnd_adv">
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QSpinBox" name="spinBox_FrameStart_adv">
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="5">
-           <widget class="QLabel" name="label_12">
-            <property name="font">
-             <font>
-              <weight>75</weight>
-              <italic>false</italic>
-              <bold>true</bold>
-              <underline>false</underline>
-              <strikeout>false</strikeout>
-             </font>
-            </property>
-            <property name="text">
-             <string>Skip Frame</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="6">
-           <widget class="QSpinBox" name="spinBox_FrameSkip_adv">
-            <property name="minimum">
-             <number>1</number>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-       </layout>
-      </widget>
-     </item>
      <item row="4" column="0" colspan="2">
       <widget class="QGroupBox" name="groupBox_3">
        <property name="enabled">
@@ -460,6 +460,71 @@ QGroupBox::title {
        </layout>
       </widget>
      </item>
+     <item row="5" column="0" colspan="2">
+      <widget class="QGroupBox" name="groupBox_4">
+       <property name="styleSheet">
+        <string notr="true">QGroupBox {
+    border: 1px solid gray;
+    border-radius: 9px;
+    margin-top: 0.5em;
+}
+
+QGroupBox::title {
+    subcontrol-origin: margin;
+    left: 10px;
+    padding: 0 3px 0 3px;
+}</string>
+       </property>
+       <property name="title">
+        <string> Step Size</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <spacer name="horizontalSpacer_2">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_10">
+          <property name="text">
+           <string>Step size</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="stepSizeSpinBox">
+          <property name="singleStep">
+           <double>0.010000000000000</double>
+          </property>
+          <property name="value">
+           <double>1.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_3">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>
diff --git a/autoscoper/src/ui/ui-files/TimelineDockWidget.ui b/autoscoper/src/ui/ui-files/TimelineDockWidget.ui
index c6f6a321..e564cdaf 100644
--- a/autoscoper/src/ui/ui-files/TimelineDockWidget.ui
+++ b/autoscoper/src/ui/ui-files/TimelineDockWidget.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>941</width>
+    <width>1088</width>
     <height>366</height>
    </rect>
   </property>
   <property name="minimumSize">
    <size>
-    <width>941</width>
-    <height>180</height>
+    <width>1088</width>
+    <height>194</height>
    </size>
   </property>
   <property name="floating">
@@ -232,6 +232,12 @@
            <height>20</height>
           </size>
          </property>
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
          <property name="text">
           <string>X (mm)</string>
          </property>